The invention relates to an ice and snow road automatic driving vehicle track planning method based on a finite-state machine, and the method comprises the steps: determining the risk value of the surrounding environment of a current vehicle based on a collision risk field of the surrounding environment of the vehicle, and recognizing the collision risk state of the current ice and snow road according to the risk value and a preset risk threshold value; the current running state of tires of the vehicle is collected, and the current actual working condition of the vehicle is determined according to the running state; and constructing a finite-state machine based on the collision risk state and the actual working condition of the current own vehicle, converting the actual working condition of the current own vehicle by using the finite-state machine, and matching an optimal trajectory planning algorithm according to the conversion result of the actual working condition, so as to plan the vehicle driving trajectory on the current ice and snow road according to the optimal trajectory planning algorithm. Therefore, the problems that reliable ice and snow road risk assessment is difficult to carry out, and selection of a bottom layer trajectory planning algorithm cannot be carried out on the collision risk level of the ice and snow road in related technologies are solved.

    本申请涉及一种基于有限状态机的冰雪道路的自动驾驶车辆轨迹规划方法,其中,方法包括:基于自车周围环境碰撞风险场,确定当前自车的周围环境的风险值,根据风险值和预设风险阈值识别当前冰雪道路的碰撞风险状态;采集当前自车的轮胎的运行状态,根据运行状态确定当前自车的实际工况;基于碰撞风险状态和当前自车的实际工况构建有限状态机,利用有限状态机转换当前自车的实际工况,并根据实际工况的转换结果匹配最佳的轨迹规划算法,以按照最佳的轨迹规划算法规划在当前冰雪道路上的车辆行驶轨迹。由此,解决了相关技术难以进行可靠的冰雪道路风险评估,无法对冰雪道路的碰撞风险等级进行底层轨迹规划算法的选择等问题。


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    Title :

    Finite-state machine-based automatic driving vehicle trajectory planning method for ice and snow roads


    Additional title:

    基于有限状态机的冰雪道路的自动驾驶车辆轨迹规划方法


    Contributors:
    ZHENG HAOTIAN (author) / WANG JIANQIANG (author) / XU QING (author) / LI SHUAI (author)

    Publication date :

    2023-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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